# ros2 launch nav2_bringup bringup_launch.py use_sim_time:=True map:=/home/yw/workspace/ws_nav/maps/nine.yaml params_file:=/home/yw/workspace/ws_nav/src/papjia_navigation/papjia_navigation_behaviors/config/nav2_bringup_params/nav2_params_2.yaml
# ros2 run rviz2 rviz2 -d /home/yw/workspace/ws_nav/src/navigation2/nav2_bringup/rviz/nav2_default_view.rviz use_sim_time:=True
# ros2 launch papjia_navigation_behaviors bt_loader.launch.py
# python /home/yw/workspace/ws_nav/src/papjia_navigation/papjia_navigation_behaviors/test/test_tree.py /home/yw/workspace/ws_nav/src/papjia_navigation/papjia_navigation_behaviors/config/tree/test_tree.xml TestGotoPose